void fixedTurnTo(Servo s,double from,double to);
void turnTo(Servo s,double from,double to,int speed);
void setPaw(int angle);
void setA1(int angle);
void setA2(int angle);
void setA3(int angle);
double getA1(double d);
double getA2(double d);
double getA3(double d);
void measureDistance();
void findBlock();
void releaseBlock();
void catchBlock();
void turnToY();